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First-pass implementation of web-based studio app.

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PiperOrigin-RevId: 843685213
Change-Id: I2642a21d5573ef548eece0eb9a2c634e4881eec5
This commit is contained in:
Haroon Qureshi
2025-12-12 07:41:35 -08:00
committed by Copybara-Service
parent 157d261701
commit 3da421afaa
3 changed files with 300 additions and 24 deletions
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src/experimental/studio/app.cc
+26 -24
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@@ -56,7 +56,7 @@
namespace mujoco::studio {
static constexpr platform::Window::Config kWindowConfig = {
#ifdef EMSCRIPTEN
#if defined(__EMSCRIPTEN__)
.render_config = platform::Window::RenderConfig::kFilamentWebGL,
#elif defined(USE_FILAMENT_VULKAN)
.render_config = platform::Window::RenderConfig::kFilamentVulkan,
@@ -195,34 +195,36 @@ void App::LoadModel(std::string data, ContentType type) {
// Delete the existing mjModel and mjData.
ClearModel();
char err[1000] = "";
if (type == ContentType::kFilepath) {
// Store the file path as the model name. Note that we use this model name
// to perform reload operations.
model_name_ = std::move(data);
if (model_name_.ends_with(".mjb")) {
model_ = mj_loadModel(model_name_.c_str(), 0);
} else if (model_name_.ends_with(".xml")) {
spec_ = mj_parseXML(model_name_.c_str(), nullptr, err, sizeof(err));
if (!data.empty()) {
char err[1000] = "";
if (type == ContentType::kFilepath) {
// Store the file path as the model name. Note that we use this model name
// to perform reload operations.
model_name_ = std::move(data);
if (model_name_.ends_with(".mjb")) {
model_ = mj_loadModel(model_name_.c_str(), 0);
} else if (model_name_.ends_with(".xml")) {
spec_ = mj_parseXML(model_name_.c_str(), nullptr, err, sizeof(err));
if (spec_ && err[0] == 0) {
model_ = mj_compile(spec_, nullptr);
}
} else {
error_ = "Unknown model file type; expected .mjb or .xml.";
}
} else if (type == ContentType::kModelXml) {
model_name_ = "[xml]";
spec_ = mj_parseXMLString(data.c_str(), nullptr, err, sizeof(err));
if (spec_ && err[0] == 0) {
model_ = mj_compile(spec_, nullptr);
}
} else {
error_ = "Unknown model file type; expected .mjb or .xml.";
} else if (type == ContentType::kModelMjb) {
model_name_ = "[mjb]";
model_ = mj_loadModelBuffer(data.data(), data.size());
}
} else if (type == ContentType::kModelXml) {
model_name_ = "[xml]";
spec_ = mj_parseXMLString(data.c_str(), nullptr, err, sizeof(err));
if (spec_ && err[0] == 0) {
model_ = mj_compile(spec_, nullptr);
}
} else if (type == ContentType::kModelMjb) {
model_name_ = "[mjb]";
model_ = mj_loadModelBuffer(data.data(), data.size());
}
if (err[0]) {
error_ = err;
if (err[0]) {
error_ = err;
}
}
// If no mjModel was loaded, load an empty mjModel.